From 5d38b9ae16a8e2b2512f6d9a37743ba319446203 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 20 Feb 2024 22:20:35 +0900 Subject: [PATCH] fix(gnss_poser): fix tf transform (#6404) Signed-off-by: Yamato Ando Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --- sensing/gnss_poser/src/gnss_poser_core.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/gnss_poser/src/gnss_poser_core.cpp b/sensing/gnss_poser/src/gnss_poser_core.cpp index ec58226273441..61d3863186fda 100644 --- a/sensing/gnss_poser/src/gnss_poser_core.cpp +++ b/sensing/gnss_poser/src/gnss_poser_core.cpp @@ -143,7 +143,7 @@ void GNSSPoser::callbackNavSatFix( const std::string gnss_frame = nav_sat_fix_msg_ptr->header.frame_id; getStaticTransform( - base_frame_, gnss_frame, tf_gnss_antenna2base_link_msg_ptr, nav_sat_fix_msg_ptr->header.stamp); + gnss_frame, base_frame_, tf_gnss_antenna2base_link_msg_ptr, nav_sat_fix_msg_ptr->header.stamp); tf2::Transform tf_gnss_antenna2base_link{}; tf2::fromMsg(tf_gnss_antenna2base_link_msg_ptr->transform, tf_gnss_antenna2base_link);